//Create a World
//Add a single cube
//Step the simulation 300 steps
//Clean up.
void Start()
{
List <CollisionShape> CollisionShapes = new List <CollisionShape>();
DefaultCollisionConfiguration CollisionConf = new DefaultCollisionConfiguration();
CollisionDispatcher Dispatcher = new CollisionDispatcher(CollisionConf);
DbvtBroadphase Broadphase = new DbvtBroadphase();
DiscreteDynamicsWorld World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new BulletSharp.Math.Vector3(0, -10, 0);
// create a few dynamic rigidbodies
const float mass = 1.0f;
RigidBody fallRigidBody;
BoxShape shape = new BoxShape(1f, 1f, 1f);
BulletSharp.Math.Vector3 localInertia = BulletSharp.Math.Vector3.Zero;
shape.CalculateLocalInertia(mass, out localInertia);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, null, shape, localInertia);
fallRigidBody = new RigidBody(rbInfo);
rbInfo.Dispose();
Matrix st = Matrix.Translation(new BulletSharp.Math.Vector3(0f, 10f, 0f));
fallRigidBody.WorldTransform = st;
World.AddRigidBody(fallRigidBody);
for (int i = 0; i < 300; i++)
{
World.StepSimulation(1f / 60f, 10);
Matrix trans;
fallRigidBody.GetWorldTransform(out trans);
Debug.Log("box height: " + trans.Origin);
}
World.RemoveRigidBody(fallRigidBody);
fallRigidBody.Dispose();
UnityEngine.Debug.Log("ExitPhysics");
if (World != null)
{
//remove/dispose constraints
int i;
for (i = World.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = World.GetConstraint(i);
World.RemoveConstraint(constraint);
constraint.Dispose();
}
//remove the rigidbodies from the dynamics world and delete them
for (i = World.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = World.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
World.RemoveCollisionObject(obj);
obj.Dispose();
}
//delete collision shapes
foreach (CollisionShape ss in CollisionShapes)
{
ss.Dispose();
}
CollisionShapes.Clear();
World.Dispose();
Broadphase.Dispose();
Dispatcher.Dispose();
CollisionConf.Dispose();
}
if (Broadphase != null)
{
Broadphase.Dispose();
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
}
}
/// <summary>
/// Called when the game has determined that game logic needs to be processed.
/// </summary>
/// <param name="gameTime">Time passed since the last call to this function.</param>
protected override void Update(GameTime gameTime)
{
MouseState mouseState = Mouse.GetState();
Vector3 rayTo = getRayTo(mouseState.X, mouseState.Y);
if (mouseState.LeftButton == ButtonState.Pressed && _prevMouseState.LeftButton == ButtonState.Released)
{
shootBox(rayTo);
}
if (mouseState.MiddleButton == ButtonState.Pressed && _prevMouseState.MiddleButton == ButtonState.Released)
{
if (_world != null)
{
CollisionWorld.ClosestRayResultCallback rayCallback = new CollisionWorld.ClosestRayResultCallback(_camera.Position, rayTo);
_world.RayTest(_camera.Position, rayTo, rayCallback);
if (rayCallback.HasHit)
{
RigidBody body = RigidBody.Upcast(rayCallback.CollisionObject);
if (body != null)
{
//other exclusions?
if (!(body.IsStaticObject || body.IsKinematicObject))
{
_pickedBody = body;
_pickedBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 pickPos = rayCallback.HitPointWorld;
Vector3 localPivot = Vector3.Transform(pickPos, XnaDevRu.BulletX.MathHelper.InvertMatrix(body.CenterOfMassTransform));
Point2PointConstraint p2p = new Point2PointConstraint(body, localPivot);
_world.AddConstraint(p2p);
_pickConstraint = p2p;
//save mouse position for dragging
_oldPickingPos = rayTo;
Vector3 eyePos = new Vector3(_camera.Position.X, _camera.Position.Y, _camera.Position.Z);
_oldPickingDist = (eyePos - pickPos).Length();
//very weak constraint for picking
p2p.Settings.Tau = 1.1f;
}
}
}
}
}
else if (mouseState.MiddleButton == ButtonState.Released && _prevMouseState.MiddleButton == ButtonState.Pressed)
{
if (_pickConstraint != null && _world != null)
{
_world.RemoveConstraint(_pickConstraint);
_pickConstraint = null;
_pickedBody.ForceActivationState(ActivationState.Active);
_pickedBody.DeactivationTime = 0f;
_pickedBody = null;
}
}
if (_pickConstraint != null)
{
//move the constraint pivot
Point2PointConstraint p2p = _pickConstraint as Point2PointConstraint;
if (p2p != null)
{
//keep it at the same picking distance
Vector3 dir = rayTo - _camera.Position;
dir.Normalize();
dir *= _oldPickingDist;
Vector3 newPos = _camera.Position + dir;
p2p.PivotInB = newPos;
}
}
_prevMouseState = mouseState;
if (Keyboard.GetState().IsKeyDown(Keys.Space))
{
//world.stepSimulation(1.0f/60.0f,0);
int numObjects = _world.CollisionObjectsCount;
for (int i = 0; i < numObjects; i++)
{
CollisionObject colObj = _world.CollisionObjects[i];
RigidBody body = RigidBody.Upcast(colObj);
if (body != null)
{
if (body.MotionState != null)
{
DefaultMotionState myMotionState = (DefaultMotionState)body.MotionState;
myMotionState.GraphicsWorldTransform = myMotionState.StartWorldTransform;
colObj.WorldTransform = myMotionState.GraphicsWorldTransform;
colObj.InterpolationWorldTransform = myMotionState.StartWorldTransform;
colObj.Activate();
}
//removed cached contact points
_world.Broadphase.CleanProxyFromPairs(colObj.Broadphase);
if (body != null && !body.IsStaticObject)
{
RigidBody.Upcast(colObj).LinearVelocity = new Vector3(0, 0, 0);
RigidBody.Upcast(colObj).AngularVelocity = new Vector3(0, 0, 0);
}
}
}
}
else if (Keyboard.GetState().IsKeyDown(Keys.Escape) || GamePad.GetState(PlayerIndex.One).Buttons.Back == ButtonState.Pressed)
{
Exit();
}
else
{
//world.stepSimulation(1.0f / 60.0f, 1);
}
base.Update(gameTime);
}
protected void Dispose(bool disposing)
{
if (debugType >= BDebug.DebugType.Debug)
{
Debug.Log("BDynamicsWorld Disposing physics.");
}
if (lateUpdateHelper != null)
{
lateUpdateHelper.m_ddWorld = null;
lateUpdateHelper.m_world = null;
}
if (m_world != null)
{
//remove/dispose constraints
int i;
if (_ddWorld != null)
{
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing Constraints {0}", _ddWorld.NumConstraints);
}
for (i = _ddWorld.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = _ddWorld.GetConstraint(i);
_ddWorld.RemoveConstraint(constraint);
if (constraint.Userobject is BTypedConstraint)
{
((BTypedConstraint)constraint.Userobject).m_isInWorld = false;
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removed Constaint {0}", constraint.Userobject);
}
constraint.Dispose();
}
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing Collision Objects {0}", _ddWorld.NumCollisionObjects);
}
//remove the rigidbodies from the dynamics world and delete them
for (i = m_world.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = m_world.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
Debug.Assert(body.NumConstraintRefs == 0, "Rigid body still had constraints");
body.MotionState.Dispose();
}
m_world.RemoveCollisionObject(obj);
if (obj.UserObject is BCollisionObject)
{
((BCollisionObject)obj.UserObject).isInWorld = false;
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removed CollisionObject {0}", obj.UserObject);
}
obj.Dispose();
}
if (m_world.DebugDrawer != null)
{
if (m_world.DebugDrawer is IDisposable)
{
IDisposable dis = (IDisposable)m_world.DebugDrawer;
dis.Dispose();
}
}
m_world.Dispose();
Broadphase.Dispose();
Dispatcher.Dispose();
CollisionConf.Dispose();
_ddWorld = null;
m_world = null;
}
if (Broadphase != null)
{
Broadphase.Dispose();
Broadphase = null;
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
Dispatcher = null;
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
CollisionConf = null;
}
if (Solver != null)
{
Solver.Dispose();
Solver = null;
}
if (softBodyWorldInfo != null)
{
softBodyWorldInfo.Dispose();
softBodyWorldInfo = null;
}
_isDisposed = true;
singleton = null;
}
/*This Function is called at:
* public static void Main()
* {
* var app = new BulletTest();
* app.Run();
* _physic.World.Dispose();
* }
* definitely the wrong place!!!!!!!!
* TODO: call it at the right place
*/
/// <summary>
/// Releases unmanaged and - optionally - managed resources.
/// </summary>
public void Dispose()
{
if (BtWorld != null)
{
/* for (int d = 0; d < BtWorld.Dispatcher.NumManifolds; d++)
* {
* var m = BtWorld.Dispatcher.GetManifoldByIndexInternal(d);
* BtWorld.Dispatcher.ReleaseManifold(m);
* ;
* }*/
//remove/dispose constraints
int i;
for (i = BtWorld.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = BtWorld.GetConstraint(i);
BtWorld.RemoveConstraint(constraint);
constraint.Dispose();
}
//remove the rigid bodies from the dynamics world and delete them
for (i = BtWorld.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = BtWorld.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
BtWorld.RemoveCollisionObject(obj);
obj.Dispose();
}
//delete collision shapes
foreach (CollisionShape shape in BtCollisionShapes)
{
shape.Dispose();
}
BtCollisionShapes.Clear();
BtWorld.Dispose();
BtBroadphase.Dispose();
BtDispatcher.Dispose();
BtCollisionConf.Dispose();
}
if (BtBroadphase != null)
{
BtBroadphase.Dispose();
}
if (BtDispatcher != null)
{
BtDispatcher.Dispose();
}
if (BtCollisionConf != null)
{
BtCollisionConf.Dispose();
}
}